Experimental Robotics II: The 2nd International Symposium, Toulouse, France, June 25-27 1991

ISBN-13: 9783540198512 / Angielski / Miękka / 1993 / 564 str.

Raja Chatila; Gerd Hirzinger

Opis

This was the second in a series of international symposia designed to circulate every two years around North America, Europe, and Asia. The objective is to present and discuss in depth the research results and current developments in Robotics. A broad spectrum of fields is presented in the papers, e.g. manipulator control, mobile robots, legged locomotion, perception and vision, and control architectures. The papers in the proceedings provide a unique combination of theoretical foundation and experimental validation. The editors have divided the text into ten sections with a synopsis by the editors, and containing four papers each.

Spis treści

The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments.- Robot control in singular configurations — Analysis and experimental results.- Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results.- Adaptive and fault tolerant tracking control of a pneumatic actuator.- Experimental verification of human skill transfer to deburring robots.- Learning of robotic assembly based on force information.- Model based implementation of a manipulation system with artificial skills.- A learning control system for an articulated gripper.- Implementation of behavioral control on a robot hand/arm system.- Mechanical and control issues for integration of an arm-hand robotic system.- Experimental evaluation of friction characteristics with an articulated robotic hand.- Intelligent robot gripper for general purposes.- A model-based optimal planning and execution system with active sensing and passive manipulation for augmentation of human precision in computer-integrated surgery.- An experimental environment for task-level programming of robots.- An architecture for task interpretation and execution control for intervention robots: Preliminary experiments.- A sensor-based telerobotic system for the space robot experiment ROTEX.- Towards real-time execution of motion tasks.- Force control of a two-arm robot manipulating a deformable object.- A practical system for planning safe trajectories for manipulator robots.- Preliminary experiments in spatial robot juggling.- A comparison of realtime obstacle avoidance methods for mobile robots.- Object-oriented design of mobile robot control systems.- Action level behaviours for locomotion and perception.- Implementation of a small size experimental self-contained autonomous robot — sensors, vehicle control, and description of sensor based behavior.- Mapping rugged terrain for a walking robot.- Localization of a multi-articulated 3D object from a mobile multisensor system.- Object understanding through visuo-motor cooperation.- Real-time vision based control of servomechanical systems.- Contact operations using an instrumented compliant wrist.- Controlling contact by integrating proximity and force sensing.- End point control of compliant robots.- Use of C-surface based force-feedback algorithm for complex assembly tasks.- Passive dynamic biped catalogue, 1991.- Realization of dynamic quadruped locomotion in pace gait by controlling walking cycle.- System identification and modelling of a high performance hydraulic actuator.- Experimental evaluation of human arm kinematics.- Modeling and control of a three degree of freedom manipulator with two flexible links.- Experimental examination of the identification methods for an industrial robot manipulator.